closedloop.ClosedLoop Class Reference

ClosedLoop Class. More...

Public Member Functions
def	__init__ (self, Kp_initial, Vdesired)
	Initializes object in ClosedLoop class. More...
def	run (self, Vmeasured)
	Calculates CL duty. More...
def	set_Kp (self, Kp_input)
	Changes the Gain Value. More...
def	__init__ (self, Kp_initial, Kd_initial)
	Initializes object in ClosedLoop class. More...
def	run (self, Pmeasured, Vmeasured)
	Calculates CL duty. More...
def	set_Kp (self, Kp_input)
	Changes the Gain Value. More...
def	__init__ (self)
	Initializes ClosedLoop class. More...
def	setgain (self, Kp, Kd, Ki)
	Sets gains to user input from task_user.py. More...
def	run (self, Pref, Pmeasured, Vmeasured, Kisign)
	Calculates output of each closed loop. More...

Public Attributes
	Kp
	Proportional gain. More...
	Vdesired
	CLduty
	Kd
	Derivative gain. More...
	Ki
	Integral gain. More...
	start
	Start time of when class instance first initialized.
	accum
	Contains accumulation of angular position error.
	CLvalue
	Final value of closed loop after application of various gains.

Detailed Description

ClosedLoop Class.

Consists of methods and variables to calculate the closed loop duty cycle. Combined with main.py and task_user.py, it sets the duty cycle to a value that will produce an output speed close to Vdesired

Consists of methods and variables to calculate the closed loop duty cycle. Combined with main.py and task_user.py, it sets the duty cycle to a value that will produce an output speed close to Kd initial

Consists of methods and variables to calculate the duty cycle to automatically balance a ball. The task_user.py runs the instances of this class for cascaded control

Constructor & Destructor Documentation

__init__() [1/3]

def closedloop.ClosedLoop.__init__	(		self,
			Kp_initial,
			Vdesired
	)

Initializes object in ClosedLoop class.

Takes input and creates an object that will calculate the output duty cycle

Parameters

Kp_initial	Initial gain for closed loop
Vdesired	Desired speed for motor

Returns

None

__init__() [2/3]

def closedloop.ClosedLoop.__init__	(		self,
			Kp_initial,
			Kd_initial
	)

Initializes object in ClosedLoop class.

Takes input and creates an object that will calculate the output duty cycle

Parameters

Kp_initial	Initial gain for closed loop
Vdesired	Desired speed for motor

Returns

None

__init__() [3/3]

def closedloop.ClosedLoop.__init__

(

self

)

Initializes ClosedLoop class.

Returns

None

Member Function Documentation

run() [1/3]

def closedloop.ClosedLoop.run	(		self,
			Pmeasured,
			Vmeasured
	)

Calculates CL duty.

Uses Vmeasured as well as initalized parameters to

Parameters

Vmeasured

Returns

The closed loop duty cycle CLduty

run() [2/3]

def closedloop.ClosedLoop.run	(		self,
			Pref,
			Pmeasured,
			Vmeasured,
			Kisign
	)

Calculates output of each closed loop.

The output of the outer closed loop will provide the reference position to be used in the inner loop. The final output is the duty cycle.

Parameters

Pref	Reference position
Pmeasured	Measured position of ball or platform
Vmeasured	Measured velocity of ball or platform
Kisign	Controls positive or negative magnitude of integral gain

Returns

Reference position of platform for first loop, then duty cycle for the second loop

run() [3/3]

def closedloop.ClosedLoop.run	(		self,
			Vmeasured
	)

Calculates CL duty.

Uses Vmeasured as well as initalized parameters to

Parameters

Vmeasured

Returns

The closed loop duty cycle CLduty

set_Kp() [1/2]

def closedloop.ClosedLoop.set_Kp	(		self,
			Kp_input
	)

Changes the Gain Value.

Changes the Gain value for the closed loop duty cycle calculation

Parameters

Kp_input

Input gain from user for integral control

Returns

None

set_Kp() [2/2]

def closedloop.ClosedLoop.set_Kp	(		self,
			Kp_input
	)

Changes the Gain Value.

Changes the Gain value for the closed loop duty cycle calculation

Parameters

Kp_input

Input gain from user for integral control

Returns

None

setgain()

def closedloop.ClosedLoop.setgain	(		self,
			Kp,
			Kd,
			Ki
	)

Sets gains to user input from task_user.py.

Parameters

Kp	Proportional gain
Kd	Derivative gain
Ki	Integral gain

Returns

None

Member Data Documentation

Kd

closedloop.ClosedLoop.Kd

Derivative gain.

Initializes to be used in various other methods. Initially 0.

Ki

closedloop.ClosedLoop.Ki

Integral gain.

Initializes to be used in various other methods. Initially 0.

Kp

closedloop.ClosedLoop.Kp

Proportional gain.

Initializes to be used in various other methods. Initially 0.

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The documentation for this class was generated from the following files:

• Lab4/closedloop.py
• Lab5/closedloop.py
• Term Project/closedloop.py